US11358281B2 - Control method by robot system and robot system - Google Patents

Control method by robot system and robot system Download PDF

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Publication number
US11358281B2
US11358281B2 US16/857,224 US202016857224A US11358281B2 US 11358281 B2 US11358281 B2 US 11358281B2 US 202016857224 A US202016857224 A US 202016857224A US 11358281 B2 US11358281 B2 US 11358281B2
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robot
identification
operation data
act
identification act
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US20200338740A1 (en
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Reiji Kobayashi
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Seiko Epson Corp
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Seiko Epson Corp
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Assigned to SEIKO EPSON CORPORATION reassignment SEIKO EPSON CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KOBAYASHI, REIJI
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
US16/857,224 2019-04-25 2020-04-24 Control method by robot system and robot system Active 2040-12-15 US11358281B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019-083765 2019-04-25
JP2019083765A JP2020179453A (ja) 2019-04-25 2019-04-25 ロボットシステムの制御方法およびロボットシステム
JPJP2019-083765 2019-04-25

Publications (2)

Publication Number Publication Date
US20200338740A1 US20200338740A1 (en) 2020-10-29
US11358281B2 true US11358281B2 (en) 2022-06-14

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Family Applications (1)

Application Number Title Priority Date Filing Date
US16/857,224 Active 2040-12-15 US11358281B2 (en) 2019-04-25 2020-04-24 Control method by robot system and robot system

Country Status (3)

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US (1) US11358281B2 (ja)
JP (1) JP2020179453A (ja)
CN (1) CN111844016B (ja)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023144576A1 (en) * 2022-01-25 2023-08-03 Abb Schweiz Ag Method and system for controlling multiple robots

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US5555179A (en) * 1993-09-03 1996-09-10 Hitachi, Ltd. Control method and control apparatus of factory automation system
US5648897A (en) * 1994-04-22 1997-07-15 Northrop Grumman Corporation System for controlling a remote unit
US5862056A (en) * 1991-08-30 1999-01-19 Mitsubishi Denki Kabushiki Kaisha Method and apparatus for display of machining status
US6167464A (en) * 1998-09-23 2000-12-26 Rockwell Technologies, Llc Mobile human/machine interface for use with industrial control systems for controlling the operation of process executed on spatially separate machines
US6330495B1 (en) * 1997-10-27 2001-12-11 Honda Giken Kogyo Kabushiki Kaisha Off-line teaching method and apparatus for the same
US6330493B1 (en) * 1999-09-16 2001-12-11 Fanuc Ltd. Control system for synchronously cooperative operation of plurality of robots
US6442451B1 (en) * 2000-12-28 2002-08-27 Robotic Workspace Technologies, Inc. Versatile robot control system
US6560513B2 (en) * 1999-11-19 2003-05-06 Fanuc Robotics North America Robotic system with teach pendant
US6717382B2 (en) * 2000-03-17 2004-04-06 Keba Ag Method of connecting a mobile control and/or monitoring unit to a machine and a control and/or monitoring unit for same
US20040133312A1 (en) * 2002-12-02 2004-07-08 Fanuc Ltd. Industrial robot
US20040148058A1 (en) * 2001-04-02 2004-07-29 Svein Johannessen Industrial robot comprising a portable operating unit which a movable key device for identification of the robot
US20040260426A1 (en) * 2001-04-02 2004-12-23 Svein Johannessen Industrial robot
US7069112B2 (en) * 2002-08-08 2006-06-27 Kuka Roboter Gmbh Method and apparatus for controlling handling devices
US20070093939A1 (en) * 2005-07-20 2007-04-26 Fanuc Ltd Robot system and robot controller
US20080065243A1 (en) * 2004-05-20 2008-03-13 Abb Research Ltd. Method and System to Retrieve and Display Technical Data for an Industrial Device
US7525274B2 (en) * 2003-03-28 2009-04-28 Kuka Roboter Gmbh Method and device for controlling a plurality of manipulators
US20090299524A1 (en) * 2005-03-04 2009-12-03 Evans Judy A Flexible connection of teaching devices to programmable controllers
JP2010131705A (ja) 2008-12-04 2010-06-17 Fanuc Ltd 複数のロボット機構部を備えたロボットシステム
US7783387B2 (en) * 2005-04-19 2010-08-24 Comau S.P.A. Process for controlling industrial robots, and related robots, systems and computer programs
JP2011067894A (ja) 2009-09-25 2011-04-07 Daihen Corp ロボット制御システム
US7957838B2 (en) * 2003-12-15 2011-06-07 Abb Ab Control system, method and computer program
JP2017013153A (ja) 2015-06-29 2017-01-19 パーパス株式会社 機器システム、その制御プログラム、機器、電子機器、および機器システムの制御方法
US20180071913A1 (en) * 2016-09-13 2018-03-15 Fanuc Corporation Robot system having teach pendant communicating with robot controller
US9943964B2 (en) * 2015-05-29 2018-04-17 Cmr Surgical Limited Characterising robot environments
US20190121335A1 (en) * 2017-10-25 2019-04-25 Omron Corporation Control system
US20190176332A1 (en) * 2017-12-08 2019-06-13 Fanuc America Corporation Robotic application equipment monitoring and predictive analytics
US20190221037A1 (en) * 2018-01-18 2019-07-18 Canon Kabushiki Kaisha Information processing apparatus and control method of display apparatus
US20190299402A1 (en) * 2018-04-03 2019-10-03 Delta Electronics, Inc. Action teaching method for robotic arm and gesture teaching device
US11110606B2 (en) * 2019-01-02 2021-09-07 The Boeing Company Coordinating work within a multi-robot cell

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CN1146492C (zh) * 1998-06-09 2004-04-21 索尼公司 机器人装置及其姿态控制方法
JP2004298977A (ja) * 2003-03-28 2004-10-28 Sony Corp 行動制御装置、行動制御方法及び行動制御プログラム、並びに移動型ロボット装置
JP4249794B1 (ja) * 2007-10-29 2009-04-08 ファナック株式会社 ワーク搬送用ロボットの制御装置
CN102073303B (zh) * 2010-12-24 2012-12-19 江苏大学 服务于两台数控机床上下料移动机器人的控制方法
JP5549749B1 (ja) * 2013-01-16 2014-07-16 株式会社安川電機 ロボット教示システム、ロボット教示プログラムの生成方法および教示ツール
JP5698789B2 (ja) * 2013-04-18 2015-04-08 ファナック株式会社 ワークを搬送するロボットの制御装置
US9764469B1 (en) * 2013-12-13 2017-09-19 University Of South Florida Generating robotic trajectories with motion harmonics
JP6350011B2 (ja) * 2014-06-20 2018-07-04 オムロン株式会社 ロボット制御システム
EP3325226B1 (en) * 2015-07-23 2022-10-26 ABB Schweiz AG Method and apparatus of scheduling welding operations
JP6333790B2 (ja) * 2015-10-21 2018-05-30 ファナック株式会社 ネットワークを介して接続された複数の制御装置を備えるロボットシステム
JP6594813B2 (ja) * 2016-03-24 2019-10-23 株式会社神戸製鋼所 通信制御システム及び通信制御方法
JP6870433B2 (ja) * 2017-03-31 2021-05-12 セイコーエプソン株式会社 制御装置、およびロボットシステム
CN107803845A (zh) * 2017-09-29 2018-03-16 纳博特南京科技有限公司 一种工业机器人的示教方法及系统

Patent Citations (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4700118A (en) * 1985-02-22 1987-10-13 Fanuc Ltd. System for setting workpiece Cartesian coordinate system of robot
US5862056A (en) * 1991-08-30 1999-01-19 Mitsubishi Denki Kabushiki Kaisha Method and apparatus for display of machining status
US5555179A (en) * 1993-09-03 1996-09-10 Hitachi, Ltd. Control method and control apparatus of factory automation system
US5648897A (en) * 1994-04-22 1997-07-15 Northrop Grumman Corporation System for controlling a remote unit
US6330495B1 (en) * 1997-10-27 2001-12-11 Honda Giken Kogyo Kabushiki Kaisha Off-line teaching method and apparatus for the same
US6167464A (en) * 1998-09-23 2000-12-26 Rockwell Technologies, Llc Mobile human/machine interface for use with industrial control systems for controlling the operation of process executed on spatially separate machines
US6330493B1 (en) * 1999-09-16 2001-12-11 Fanuc Ltd. Control system for synchronously cooperative operation of plurality of robots
US6560513B2 (en) * 1999-11-19 2003-05-06 Fanuc Robotics North America Robotic system with teach pendant
US6717382B2 (en) * 2000-03-17 2004-04-06 Keba Ag Method of connecting a mobile control and/or monitoring unit to a machine and a control and/or monitoring unit for same
US6442451B1 (en) * 2000-12-28 2002-08-27 Robotic Workspace Technologies, Inc. Versatile robot control system
US7451016B2 (en) * 2001-04-02 2008-11-11 Abb Ab Industrial robot comprising a portable operating unit which a movable key device for identification of the robot
US20040148058A1 (en) * 2001-04-02 2004-07-29 Svein Johannessen Industrial robot comprising a portable operating unit which a movable key device for identification of the robot
US20040260426A1 (en) * 2001-04-02 2004-12-23 Svein Johannessen Industrial robot
US7069112B2 (en) * 2002-08-08 2006-06-27 Kuka Roboter Gmbh Method and apparatus for controlling handling devices
US20040133312A1 (en) * 2002-12-02 2004-07-08 Fanuc Ltd. Industrial robot
US7525274B2 (en) * 2003-03-28 2009-04-28 Kuka Roboter Gmbh Method and device for controlling a plurality of manipulators
US7957838B2 (en) * 2003-12-15 2011-06-07 Abb Ab Control system, method and computer program
US20080065243A1 (en) * 2004-05-20 2008-03-13 Abb Research Ltd. Method and System to Retrieve and Display Technical Data for an Industrial Device
US20090299524A1 (en) * 2005-03-04 2009-12-03 Evans Judy A Flexible connection of teaching devices to programmable controllers
US7783387B2 (en) * 2005-04-19 2010-08-24 Comau S.P.A. Process for controlling industrial robots, and related robots, systems and computer programs
US7778729B2 (en) * 2005-07-20 2010-08-17 Fanuc Ltd Robot system and robot controller
US20070093939A1 (en) * 2005-07-20 2007-04-26 Fanuc Ltd Robot system and robot controller
JP2010131705A (ja) 2008-12-04 2010-06-17 Fanuc Ltd 複数のロボット機構部を備えたロボットシステム
JP2011067894A (ja) 2009-09-25 2011-04-07 Daihen Corp ロボット制御システム
US9943964B2 (en) * 2015-05-29 2018-04-17 Cmr Surgical Limited Characterising robot environments
JP2017013153A (ja) 2015-06-29 2017-01-19 パーパス株式会社 機器システム、その制御プログラム、機器、電子機器、および機器システムの制御方法
US20180071913A1 (en) * 2016-09-13 2018-03-15 Fanuc Corporation Robot system having teach pendant communicating with robot controller
US10702987B2 (en) * 2016-09-13 2020-07-07 Fanuc Corporation Robot system having teach pendant communicating with robot controller
US20190121335A1 (en) * 2017-10-25 2019-04-25 Omron Corporation Control system
US20190176332A1 (en) * 2017-12-08 2019-06-13 Fanuc America Corporation Robotic application equipment monitoring and predictive analytics
US20190221037A1 (en) * 2018-01-18 2019-07-18 Canon Kabushiki Kaisha Information processing apparatus and control method of display apparatus
US20190299402A1 (en) * 2018-04-03 2019-10-03 Delta Electronics, Inc. Action teaching method for robotic arm and gesture teaching device
US10981273B2 (en) * 2018-04-03 2021-04-20 Delta Electronics, Inc. Action teaching method for robotic arm and gesture teaching device
US11110606B2 (en) * 2019-01-02 2021-09-07 The Boeing Company Coordinating work within a multi-robot cell

Also Published As

Publication number Publication date
JP2020179453A (ja) 2020-11-05
US20200338740A1 (en) 2020-10-29
CN111844016A (zh) 2020-10-30
CN111844016B (zh) 2023-06-23

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